fixed vector size mismatch between matched and status vectors

loop_fusion/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(loop_fusion)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+#-DEIGEN_USE_MKL_ALL")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    std_msgs
+    nav_msgs
+    camera_models
+    cv_bridge
+    roslib
+    )
+
+
+set(OpenCV_DIR "/home/admin1/podmivan/opencv-3.4.16/build")
+set(CUDA_DIR "/usr/local/cuda-11.5")
+find_package(OpenCV 3 REQUIRED)
+message(STATUS "1 OPENCV: " ${OpenCV_VERSION} " ")
+find_package(Ceres REQUIRED)
+find_package(Eigen3)
+
+include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}  ${EIGEN3_INCLUDE_DIR})
+
+catkin_package()
+
+message(STATUS "2 OPENCV: " ${OpenCV_VERSION} " ")
+
+add_executable(loop_fusion_node
+    src/pose_graph_node.cpp
+    src/pose_graph.cpp
+    src/keyframe.cpp
+    src/utility/CameraPoseVisualization.cpp
+    src/ThirdParty/DBoW/BowVector.cpp
+    src/ThirdParty/DBoW/FBrief.cpp
+    src/ThirdParty/DBoW/FeatureVector.cpp
+    src/ThirdParty/DBoW/QueryResults.cpp
+    src/ThirdParty/DBoW/ScoringObject.cpp
+    src/ThirdParty/DUtils/Random.cpp
+    src/ThirdParty/DUtils/Timestamp.cpp
+    src/ThirdParty/DVision/BRIEF.cpp
+    src/ThirdParty/VocabularyBinary.cpp
+    )
+
+message(STATUS "3 OPENCV: " ${OpenCV_VERSION} " ")
+
+target_link_libraries(loop_fusion_node ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${CERES_LIBRARIES}) 
+
+message(STATUS "4 OPENCV: " ${OpenCV_VERSION} " ")